The man who brought to life Doctor Who's greatest foes has died aged 84, his daughter has said. Raymond Cusick worked as a production designer on the BBC show from 1963 to 1966.

Terry Nation, who died in 1997, wrote the 1963 story The Daleks, in which the "satanic pepperpots" first appeared, but it was Cusick who came up with the machines' distinctive look, including the bobble-like sensors, eyestalk, sucker and exterminator weapons.

The Daleks have remained fundamentally unchanged in appearance in 50 years, and have remained the Doctor's most popular enemies even since the show's revival in 2005. On Twitter, Tom Spilsbury, editor of Doctor Who Magazine, paid tribute to Cusick's "timeless" design.

Cusick also worked on shows ranging from Z Cars, Dr Finlay's Casebook and The Forsyte Saga to The Duchess of Duke Street, When the Boat Comes In and Rentaghost. He retired in 1987.

Cusick's daughter, Claire Heawood, said he had been suffering from an illness and died peacefully in his sleep on Thursday. He leaves two daughters and seven grandchildren.